PROCEDURAL ANIMATION
DEMO
STEP 1: If the red points are known, we can find out where each segment of the limb meets by recognizing the legs form a triangle (i.e it's like solving a 2D Pythagorean problem that exists in 3D)
STEP 2: Raycast a target point where the feet should move next, using a Bezier curve to create a "stepping curve" when the distance between target and current feet position exceeds a threshold
STEP 3: More legs and set body position to be the average of all feet position plus some vertical offset